AP_AHRS: Publish the EKF position and velocity reset deltas

This commit is contained in:
Paul Riseborough 2015-10-29 16:18:04 +11:00 committed by Randy Mackay
parent 74da4d8e57
commit f67f6b01f4
3 changed files with 46 additions and 0 deletions

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@ -392,6 +392,18 @@ public:
return false; return false;
}; };
// return the amount of NE position change in metres due to the last reset
// returns the time of the last reset or 0 if no reset has ever occurred
virtual uint32_t getLastPosNorthEastReset(Vector2f &pos) {
return 0;
};
// return the amount of NE velocity change in metres/sec due to the last reset
// returns the time of the last reset or 0 if no reset has ever occurred
virtual uint32_t getLastVelNorthEastReset(Vector2f &vel) {
return 0;
};
// Resets the baro so that it reads zero at the current height // Resets the baro so that it reads zero at the current height
// Resets the EKF height to zero // Resets the EKF height to zero
// Adjusts the EKf origin height so that the EKF height + origin height is the same as before // Adjusts the EKf origin height so that the EKF height + origin height is the same as before

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@ -740,6 +740,32 @@ uint32_t AP_AHRS_NavEKF::getLastYawResetAngle(float &yawAng)
return false; return false;
} }
// return the amount of NE position change in metres due to the last reset
// returns the time of the last reset or 0 if no reset has ever occurred
uint32_t AP_AHRS_NavEKF::getLastPosNorthEastReset(Vector2f &pos)
{
switch (ekf_type()) {
case 1:
return EKF1.getLastPosNorthEastReset(pos);
case 2:
return EKF2.getLastPosNorthEastReset(pos);
}
return 0;
}
// return the amount of NE velocity change in metres/sec due to the last reset
// returns the time of the last reset or 0 if no reset has ever occurred
uint32_t AP_AHRS_NavEKF::getLastVelNorthEastReset(Vector2f &vel)
{
switch (ekf_type()) {
case 1:
return EKF1.getLastVelNorthEastReset(vel);
case 2:
return EKF2.getLastVelNorthEastReset(vel);
}
return 0;
}
// Resets the baro so that it reads zero at the current height // Resets the baro so that it reads zero at the current height
// Resets the EKF height to zero // Resets the EKF height to zero
// Adjusts the EKf origin height so that the EKF height + origin height is the same as before // Adjusts the EKf origin height so that the EKF height + origin height is the same as before

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@ -167,6 +167,14 @@ public:
// returns the time of the last yaw angle reset or 0 if no reset has ever occurred // returns the time of the last yaw angle reset or 0 if no reset has ever occurred
uint32_t getLastYawResetAngle(float &yawAng); uint32_t getLastYawResetAngle(float &yawAng);
// return the amount of NE position change in metres due to the last reset
// returns the time of the last reset or 0 if no reset has ever occurred
uint32_t getLastPosNorthEastReset(Vector2f &pos);
// return the amount of NE velocity change in metres/sec due to the last reset
// returns the time of the last reset or 0 if no reset has ever occurred
uint32_t getLastVelNorthEastReset(Vector2f &vel);
// Resets the baro so that it reads zero at the current height // Resets the baro so that it reads zero at the current height
// Resets the EKF height to zero // Resets the EKF height to zero
// Adjusts the EKf origin height so that the EKF height + origin height is the same as before // Adjusts the EKf origin height so that the EKF height + origin height is the same as before